fix(all): Update to use user-friendly error message in API responses

[jinlinGuan]

fix #3975

This issue is actually located in all services, so fix it in all services.

Signed-off-by: Ginny Guan ginny@iotechsys.com

If your build fails due to your commit message not passing the build checks, please review the guidelines here: https://github.com/edgexfoundry/edgex-go/blob/main/.github/Contributing.md

PR Checklist

Please check if your PR fulfills the following requirements:

• I am not introducing a breaking change (if you are, flag in conventional commit message with BREAKING CHANGE: describing the break)
• I am not introducing a new dependency (add notes below if you are)
• I have added unit tests for the new feature or bug fix (if not, why?) only update response error messages
• I have fully tested (add details below) this the new feature or bug fix (if not, why?)
• I have opened a PR for the related docs change (if not, why?)only update response error messages

Testing Instructions

1. build and run docker images for all services from this branch
2. verify the responses
   For example,

For empty profile name,
{"apiVersion":"v2","message":"DeviceProfileBasicInfoRequest.BasicInfo.Name field should not be empty string","statusCode":400}

For non-existent profile name,
[{"apiVersion":"v2","message":"fail to query device profile by name test","statusCode":404}]

New Dependency Instructions (If applicable)

[sonarqubecloud]

Kudos, SonarCloud Quality Gate passed!   

0 Bugs
0 Vulnerabilities
0 Security Hotspots
0 Code Smells

No Coverage information
12.2% Duplication

[codecov-commenter]

Codecov Report

Merging #3990 (aeaf064) into main (8a434ef) will not change coverage.
The diff coverage is 15.38%.

@@           Coverage Diff           @@
##             main    #3990   +/-   ##
=======================================
  Coverage   47.19%   47.19%           
=======================================
  Files         114      114           
  Lines        9831     9831           
=======================================
  Hits         4640     4640           
  Misses       4804     4804           
  Partials      387      387           

Impacted Files	Coverage Δ
internal/pkg/infrastructure/redis/client.go	0.00% <0.00%> (ø)
...nternal/pkg/infrastructure/redis/device_profile.go	0.00% <0.00%> (ø)
...nternal/pkg/infrastructure/redis/device_service.go	0.00% <0.00%> (ø)
internal/pkg/infrastructure/redis/interval.go	0.00% <0.00%> (ø)
...nternal/pkg/infrastructure/redis/intervalaction.go	0.00% <0.00%> (ø)
...ernal/pkg/infrastructure/redis/provisionwatcher.go	0.00% <0.00%> (ø)
...nal/core/metadata/controller/http/devicecommand.go	100.00% <100.00%> (ø)
internal/io/reader.go	74.07% <100.00%> (ø)

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[cloudxxx8]

LGTM